Combinate path and normal animation?
I think you can use a parent>"follow path" (say 100 frames) to animate the first part, the "walk", then just insert keyframes for the second part of the animation at the end of the first part (say starting at frame 101).

In a much simplified example, 

this could be the path animation (1-100)



and this the keyframe after (101-200)



and this would be the result